OpenRaiser/Intern-Atlas huggingface dataset:
Tight Sampling Bounds for Eigenvalue Approximation
Venue: arXiv cs.DS 2024
Year: 2024

We consider the problem of estimating the spectrum of a symmetric bounded entry (not necessarily PSD) matrix via entrywise sampling. This problem was introduced by [Bhattacharjee, Dexter, Drineas, Musco, Ray '22], where it was shown that one can obtain an $εn$ additive approximation to all eigenvalues of $A$ by sampling a principal submatrix of dimension $\frac{\text{poly}(\log n)}{ε^3}$. We improve their analysis by showing that it suffices to sample a principal submatrix of dimension $\tilde{O}(\frac{1}{ε^2})$ (with no dependence on $n$). This matches known lower bounds and therefore resolves the sample complexity of this problem up to $\log\frac{1}ε$ factors. Using similar techniques, we give a tight $\tilde{O}(\frac{1}{ε^2})$ bound for obtaining an additive $ε\|A\|_F$ approximation to the spectrum of $A$ via squared row-norm sampling, improving on the previous best $\tilde{O}(\frac{1}{ε^{8}})$ bound. We also address the problem of approximating the top eigenvector for a bounded entry, PSD matrix $A.$ In particular, we show that sampling $O(\frac{1}ε)$ columns of $A$ suffices to produce a unit vector $u$ with $u^T A u \geq λ_1(A) - εn$. This matches what one could achieve via the sampling bound of [Musco, Musco'17] for the special case of approximating the top eigenvector, but does not require adaptivity. As additional applications, we observe that our sampling results can be used to design a faster eigenvalue estimation sketch for dense matrices resolving a question of [Swartworth, Woodruff'23], and can also be combined with [Musco, Musco'17] to achieve $O(1/ε^3)$ (adaptive) sample complexity for approximating the spectrum of a bounded entry PSD matrix to $εn$ additive error.
Graph-Based Semi-Supervised Segregated Lipschitz Learning
Venue: arXiv cs.LG 2024
Year: 2024

This paper presents an approach to semi-supervised learning for the classification of data using the Lipschitz Learning on graphs. We develop a graph-based semi-supervised learning framework that leverages the properties of the infinity Laplacian to propagate labels in a dataset where only a few samples are labeled. By extending the theory of spatial segregation from the Laplace operator to the infinity Laplace operator, both in continuum and discrete settings, our approach provides a robust method for dealing with class imbalance, a common challenge in machine learning. Experimental validation on several benchmark datasets demonstrates that our method not only improves classification accuracy compared to existing methods but also ensures efficient label propagation in scenarios with limited labeled data.
VERITAS: A Unified Approach to Reliability Evaluation
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) often fail to synthesize information from their context to generate an accurate response. This renders them unreliable in knowledge intensive settings where reliability of the output is key. A critical component for reliable LLMs is the integration of a robust fact-checking system that can detect hallucinations across various formats. While several open-access fact-checking models are available, their functionality is often limited to specific tasks, such as grounded question-answering or entailment verification, and they perform less effectively in conversational settings. On the other hand, closed-access models like GPT-4 and Claude offer greater flexibility across different contexts, including grounded dialogue verification, but are hindered by high costs and latency. In this work, we introduce VERITAS, a family of hallucination detection models designed to operate flexibly across diverse contexts while minimizing latency and costs. VERITAS achieves state-of-the-art results considering average performance on all major hallucination detection benchmarks, with $10\%$ increase in average performance when compared to similar-sized models and get close to the performance of GPT4 turbo with LLM-as-a-judge setting.
Satellite monitoring uncovers progress but large disparities in doubling crop yields
Venue: arXiv cs.CY 2024
Year: 2024

High-resolution satellite-based crop yield mapping offers enormous promise for monitoring progress towards the SDGs. Across 15,000 villages in Rwanda we uncover areas that are on and off track to double productivity by 2030. This machine learning enabled analysis is used to design spatially explicit productivity targets that, if met, would simultaneously ensure national goals without leaving anyone behind.
A Surrogate Model for Quay Crane Scheduling Problem
Venue: arXiv cs.NE 2024
Year: 2024

In ports, a variety of tasks are carried out, and scheduling these tasks is crucial due to its significant impact on productivity, making the generation of precise plans essential. This study proposes a method to solve the Quay Crane Scheduling Problem (QCSP), a representative task scheduling problem in ports known to be NP-Hard, more quickly and accurately. First, the study suggests a method to create more accurate work plans for Quay Cranes (QCs) by learning from actual port data to accurately predict the working speed of QCs. Next, a Surrogate Model is proposed by combining a Machine Learning (ML) model with a Genetic Algorithm (GA), which is widely used to solve complex optimization problems, enabling faster and more precise exploration of solutions. Unlike methods that use fixed-dimensional chromosome encoding, the proposed methodology can provide solutions for encodings of various dimensions. To validate the performance of the newly proposed methodology, comparative experiments were conducted, demonstrating faster search speeds and improved fitness scores. The method proposed in this study can be applied not only to QCSP but also to various NP-Hard problems, and it opens up possibilities for the further development of advanced search algorithms by combining heuristic algorithms with ML models.
Energy Price Modelling: A Comparative Evaluation of four Generations of Forecasting Methods
Venue: arXiv cs.LG 2024
Year: 2024

Energy is a critical driver of modern economic systems. Accurate energy price forecasting plays an important role in supporting decision-making at various levels, from operational purchasing decisions at individual business organizations to policy-making. A significant body of literature has looked into energy price forecasting, investigating a wide range of methods to improve accuracy and inform these critical decisions. Given the evolving landscape of forecasting techniques, the literature lacks a thorough empirical comparison that systematically contrasts these methods. This paper provides an in-depth review of the evolution of forecasting modeling frameworks, from well-established econometric models to machine learning methods, early sequence learners such LSTMs, and more recent advancements in deep learning with transformer networks, which represent the cutting edge in forecasting. We offer a detailed review of the related literature and categorize forecasting methodologies into four model families. We also explore emerging concepts like pre-training and transfer learning, which have transformed the analysis of unstructured data and hold significant promise for time series forecasting. We address a gap in the literature by performing a comprehensive empirical analysis on these four family models, using data from the EU energy markets, we conduct a large-scale empirical study, which contrasts the forecasting accuracy of different approaches, focusing especially on alternative propositions for time series transformers.
AI Horizon Scanning -- White Paper p3395, IEEE-SA. Part III: Technology Watch: a selection of key developments, emerging technologies, and industry trends in Artificial Intelligence
Venue: arXiv cs.CY 2024
Year: 2024

Generative Artificial Intelligence (AI) technologies are in a phase of unprecedented rapid development following the landmark release of Chat-GPT, which brought the phenomenon to wide public attention. As the deployment of AI products rises geometrically, considerable attention is being given to the threats and opportunities that AI technologies offer, and to the need for regulatory and standards initiatives to ensure that use of the technology aligns with societal needs and generates broad benefits while mitigating risks and threats. This manuscript is the third of a series of White Papers informing the development of IEEE-SA's p3995 {\it `Standard for the Implementation of Safeguards, Controls, and Preventive Techniques for Artificial Intelligence Models'} \cite{P3395}, Chair Marina Cortês. This part focuses on assessing calmly and objectively, as far as is possible, the current state of Artificial Intelligence (AI) technology development and identifying predominant trends, prospects, and ensuing risks. It necessarily forms a snapshot of the current instant of a rapidly-evolving landscape, with new products and innovations emerging continuously. While our main focus is on software and hardware developments and their corporate context, we also briefly review progress on robotics within the AI context and describe some implications of the substantial and growing AI energy demand.
Augmented-Reality Enabled Crop Monitoring with Robot Assistance
Venue: arXiv cs.RO 2024
Year: 2024

The integration of augmented reality (AR), extended reality (XR), and virtual reality (VR) technologies in agriculture has shown significant promise in enhancing various agricultural practices. Mobile robots have also been adopted as assessment tools in precision agriculture, improving economic efficiency and productivity, and minimizing undesired effects such as weeds and pests. Despite considerable work on both fronts, the combination of a versatile User Interface (UI) provided by an AR headset with the integration and direct interaction and control of a mobile field robot has not yet been fully explored or standardized. This work aims to address this gap by providing real-time data input and control output of a mobile robot for precision agriculture through a virtual environment enabled by an AR headset interface. The system leverages open-source computational tools and off-the-shelf hardware for effective integration. Distinctive case studies are presented where growers or technicians can interact with a legged robot via an AR headset and a UI. Users can teleoperate the robot to gather information in an area of interest, request real-time graphed status of an area, or have the robot autonomously navigate to selected areas for measurement updates. The proposed system utilizes a custom local navigation method with a fixed holographic coordinate system in combination with QR codes. This step toward fusing AR and robotics in agriculture aims to provide practical solutions for real-time data management and control enabled by human-robot interaction. The implementation can be extended to various robot applications in agriculture and beyond, promoting a unified framework for on-demand and autonomous robot operation in the field.
LLM Generated Distribution-Based Prediction of US Electoral Results, Part I
Venue: arXiv cs.AI 2024
Year: 2024

This paper introduces distribution-based prediction, a novel approach to using Large Language Models (LLMs) as predictive tools by interpreting output token probabilities as distributions representing the models' learned representation of the world. This distribution-based nature offers an alternative perspective for analyzing algorithmic fidelity, complementing the approach used in silicon sampling. We demonstrate the use of distribution-based prediction in the context of recent United States presidential election, showing that this method can be used to determine task specific bias, prompt noise, and algorithmic fidelity. This approach has significant implications for assessing the reliability and increasing transparency of LLM-based predictions across various domains.
Shared Memory-Aware Latency-Sensitive Message Aggregation for Fine-Grained Communication
Venue: arXiv cs.DC 2024
Year: 2024

Message aggregation is often used with a goal to reduce communication cost in HPC applications. The difference in the order of overhead of sending a message and cost of per byte transferred motivates the need for message aggregation, for several irregular fine-grained messaging applications like graph algorithms and parallel discrete event simulation (PDES). While message aggregation is frequently utilized in "MPI-everywhere" model, to coalesce messages between processes mapped to cores, such aggregation across threads in a process, say in MPI+X models or Charm++ SMP (Shared Memory Parallelism) mode, is often avoided. Within-process coalescing is likely to require synchronization across threads and lead to performance issues from contention. However, as a result, SMP-unaware aggregation mechanisms may not fully utilize aggregation opportunities available to applications in SMP mode. Additionally, while the benefit of message aggregation is often analyzed in terms of reducing the overhead, specifically the per message cost, we also analyze different schemes that can aid in reducing the message latency, ie. the time from when a message is sent to the time when it is received. Message latency can affect several applications like PDES with speculative execution where reducing message latency could result in fewer rollbacks. To address these challenges, in our work, we demonstrate the effectiveness of shared memory-aware message aggregation schemes for a range of proxy applications with respect to messaging overhead and latency.
Do Mice Grok? Glimpses of Hidden Progress During Overtraining in Sensory Cortex
Venue: arXiv cs.LG 2024
Year: 2024

Does learning of task-relevant representations stop when behavior stops changing? Motivated by recent theoretical advances in machine learning and the intuitive observation that human experts continue to learn from practice even after mastery, we hypothesize that task-specific representation learning can continue, even when behavior plateaus. In a novel reanalysis of recently published neural data, we find evidence for such learning in posterior piriform cortex of mice following continued training on a task, long after behavior saturates at near-ceiling performance ("overtraining"). This learning is marked by an increase in decoding accuracy from piriform neural populations and improved performance on held-out generalization tests. We demonstrate that class representations in cortex continue to separate during overtraining, so that examples that were incorrectly classified at the beginning of overtraining can abruptly be correctly classified later on, despite no changes in behavior during that time. We hypothesize this hidden yet rich learning takes the form of approximate margin maximization; we validate this and other predictions in the neural data, as well as build and interpret a simple synthetic model that recapitulates these phenomena. We conclude by showing how this model of late-time feature learning implies an explanation for the empirical puzzle of overtraining reversal in animal learning, where task-specific representations are more robust to particular task changes because the learned features can be reused.
Potential Use of IoT Distance Measurement Tool in Boule Sports
Venue: arXiv cs.NI 2024
Year: 2024

In Petanque, each player aims to throw the boule closer to the jack. The closest boule to the jack among players will score the point. Currently, the distance of the boule to the jack is still measured using manual measurement tools such as measuring tape, string, and calipers. The manual measurement method is considered time-consuming and prone to inconsistent reading, which the ordinary referees and players conduct. A steady hand is required to hold the tape at two ends while squatting or kneeling. The technique of reading the measurement is also important to determine the accuracy of the length. This project aims to design and develop a prototype device that can measure the distance between jack and boule using a microcontroller and ultrasonic sensor technology. The device is expected to provide an instant measurement of the distance between the jack and the boule. The measurement data can be displayed on the mobile device to ease the user to view the result. This prototype device also counts the score points and determines the winner.
An Experimental Study on Decomposition-Based Deep Ensemble Learning for Traffic Flow Forecasting
Venue: arXiv cs.LG 2024
Year: 2024

Traffic flow forecasting is a crucial task in intelligent transport systems. Deep learning offers an effective solution, capturing complex patterns in time-series traffic flow data to enable the accurate prediction. However, deep learning models are prone to overfitting the intricate details of flow data, leading to poor generalisation. Recent studies suggest that decomposition-based deep ensemble learning methods may address this issue by breaking down a time series into multiple simpler signals, upon which deep learning models are built and ensembled to generate the final prediction. However, few studies have compared the performance of decomposition-based ensemble methods with non-decomposition-based ones which directly utilise raw time-series data. This work compares several decomposition-based and non-decomposition-based deep ensemble learning methods. Experimental results on three traffic datasets demonstrate the superiority of decomposition-based ensemble methods, while also revealing their sensitivity to aggregation strategies and forecasting horizons.
Robot Swarming over the internet
Venue: arXiv cs.RO 2024
Year: 2024

This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and directions needed for the swarming algorithm. The results show that all robots properly follow some leader defined one of the testbeds. Measurement of data exchange rates show no loss of packets, and average transfer delays stay within tolerance limits for practical applications. In our knowledge, the novelty of this paper concerns this kind of control over a large network like internet.
Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
Venue: arXiv cs.RO 2024
Year: 2024

Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground contacts, a path is considered safe if it is obstacle-free and respects the robot's physical limitations and underlying dynamics. Existing approaches often decouple path planning from gait control due to the significant computational challenge caused by the full-order robot dynamics. In this work, we develop a unified, safe path and gait planning framework that can be evaluated online in real-time, allowing the robot to navigate clustered environments while sustaining stable locomotion. Our approach uses the popular Linear Inverted Pendulum (LIP) model as a template model to represent walking dynamics. It incorporates heading angles in the model to evaluate kinematic constraints essential for physically feasible gaits properly. In addition, we leverage discrete control barrier functions (DCBF) for obstacle avoidance, ensuring that the subsequent foot placement provides a safe navigation path within clustered environments. To guarantee real-time computation, we use a novel approximation of the DCBF to produce linear DCBF (LDCBF) constraints. We validate the proposed approach in simulation using a Digit robot in randomly generated environments. The results demonstrate that our approach can generate safe gaits for a non-trivial humanoid robot to navigate environments with randomly generated obstacles in real-time.
Policy Aggregation
Venue: arXiv cs.AI 2024
Year: 2024

We consider the challenge of AI value alignment with multiple individuals that have different reward functions and optimal policies in an underlying Markov decision process. We formalize this problem as one of policy aggregation, where the goal is to identify a desirable collective policy. We argue that an approach informed by social choice theory is especially suitable. Our key insight is that social choice methods can be reinterpreted by identifying ordinal preferences with volumes of subsets of the state-action occupancy polytope. Building on this insight, we demonstrate that a variety of methods--including approval voting, Borda count, the proportional veto core, and quantile fairness--can be practically applied to policy aggregation.
How do practitioners gain confidence in assurance cases?
Venue: arXiv cs.SE 2024
Year: 2024

CONTEXT: Assurance Cases (ACs) are prepared to argue that the system's desired quality attributes (e.g., safety or security) are satisfied. While there is strong adoption of ACs, practitioners are often left asking an important question: are we confident that the claims made by the case are true? While many confidence assessment methods (CAMs) exist, little is known about the use of these methods in practice OBJECTIVE: Develop an understanding of the current state of practice for AC confidence assessment: what methods are used in practice and what barriers exist for their use? METHOD: Structured interviews were performed with practitioners with experience contributing to real-world ACs. Open-coding was performed on transcripts. A description of the current state of AC practice and future considerations for researchers was synthesized from the results. RESULTS: A total of n = 19 practitioners were interviewed. The most common CAMs were (peer-)review of ACs, dialectic reasoning ("defeaters"), and comparing against checklists. Participants preferred qualitative methods and expressed concerns about quantitative CAMs. Barriers to using CAMs included additional work, inadequate guidance, subjectivity and interpretation of results, and trustworthiness of methods. CONCLUSION: While many CAMs are described in the literature there is a gap between the proposed methods and needs of practitioners. Researchers working in this area should consider the need to: connect CAMs to established practices, use CAMs to communicate with interest holders, crystallize the details of CAM application, curate accessible guidance, and confirm that methods are trustworthy.
Graph-Based Multi-Modal Sensor Fusion for Autonomous Driving
Venue: arXiv cs.CV 2024
Year: 2024

The growing demand for robust scene understanding in mobile robotics and autonomous driving has highlighted the importance of integrating multiple sensing modalities. By combining data from diverse sensors like cameras and LIDARs, fusion techniques can overcome the limitations of individual sensors, enabling a more complete and accurate perception of the environment. We introduce a novel approach to multi-modal sensor fusion, focusing on developing a graph-based state representation that supports critical decision-making processes in autonomous driving. We present a Sensor-Agnostic Graph-Aware Kalman Filter [3], the first online state estimation technique designed to fuse multi-modal graphs derived from noisy multi-sensor data. The estimated graph-based state representations serve as a foundation for advanced applications like Multi-Object Tracking (MOT), offering a comprehensive framework for enhancing the situational awareness and safety of autonomous systems. We validate the effectiveness of our proposed framework through extensive experiments conducted on both synthetic and real-world driving datasets (nuScenes). Our results showcase an improvement in MOTA and a reduction in estimated position errors (MOTP) and identity switches (IDS) for tracked objects using the SAGA-KF. Furthermore, we highlight the capability of such a framework to develop methods that can leverage heterogeneous information (like semantic objects and geometric structures) from various sensing modalities, enabling a more holistic approach to scene understanding and enhancing the safety and effectiveness of autonomous systems.